CN116829316A - Control device, control system, control method and program - Google Patents
Control device, control system, control method and program Download PDFInfo
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- CN116829316A CN116829316A CN202180093516.3A CN202180093516A CN116829316A CN 116829316 A CN116829316 A CN 116829316A CN 202180093516 A CN202180093516 A CN 202180093516A CN 116829316 A CN116829316 A CN 116829316A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39082—Collision, real time collision avoidance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39091—Avoid collision with moving obstacles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40203—Detect position of operator, create non material barrier to protect operator
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49158—On near collision reduce speed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The control unit controls the operation of the robot based on the operation orbit information. The detection unit detects the position of the robot and the position of the person. The determination unit determines whether or not the 1 st distance between the robot position and the person position is shorter than a 1 st predetermined distance. The prediction unit predicts a future position of the robot based on the position of the robot, and measures the future position of the person based on the position of the person. The changing unit changes the movement track information so that the 2 nd distance becomes equal to or longer than the 2 nd predetermined distance when the 2 nd distance between the future position of the robot and the future position of the person is shorter than the 2 nd predetermined distance. When the 1 st distance is shorter than the 1 st predetermined distance, the control unit stops or decelerates the operation of the robot regardless of whether or not the operation trajectory information is changed. When the 1 st distance is equal to or greater than the 1 st predetermined distance and the movement track information is changed, the control unit controls the movement of the robot based on the changed movement track information.
Description
Technical Field
The invention relates to a control system, a control device, a control method and a program.
Background
In the case where robots such as industrial robots and cooperative robots coexist and cooperate with a person, there are cases where a safety distance between the robot and the person is ensured using a safety sensor or the like, and cases where a speed limit of the robot is ensured. In order to meet the requirements of security authentication, in any case, when a person approaches the vicinity of the robot, the motion of the robot is restricted, and therefore the mobility and productivity of the system are reduced. Patent document 1 discloses stopping the operation of the robot when it is determined that the position of the person is within a predetermined radius. Patent document 2 discloses a method of determining whether or not a robot is likely to come into contact with a person in the future, and changing the trajectory of the robot when there is a possibility of contact.
Prior art literature
Patent literature
Patent document 1: japanese patent laid-open publication No. 2014-8562
Patent document 2: japanese patent laid-open No. 2020-46779
Disclosure of Invention
Problems to be solved by the invention
Conventionally, when a person approaches a robot, the operation of the robot is stopped, but if the operation of the robot is frequently stopped, the operation efficiency of the robot may be lowered. In addition, in the past, when there is a possibility that the robot will come into contact with the human, the trajectory of the robot is changed, but in this case, the safety after changing the trajectory of the robot cannot be ensured. In addition, in the case where only the control by the machine learning is performed, it is difficult to satisfy the safety criterion.
The present invention has been made in view of the above-described circumstances, and an object thereof is to provide a technique capable of achieving both safety and operation efficiency of a robot.
Means for solving the problems
The control device according to one aspect of the present invention includes: a control unit that controls the operation of the robot based on operation track information indicating the operation track of the robot; a determination unit that determines whether or not a 1 st distance between the position of the robot detected by the detection unit and the position of the person is shorter than a 1 st predetermined distance; a prediction unit that predicts a future position of the robot based on the position of the robot and predicts the future position of the person based on the position of the person; and a changing unit that determines whether or not a 2 nd distance between a future position of the robot and the future position of the person is shorter than a 2 nd predetermined distance, and when the 2 nd distance is shorter than the 2 nd predetermined distance, changes the operation orbit information so that the 2 nd distance is equal to or longer than the 2 nd predetermined distance, and when the 1 st distance is shorter than the 1 st predetermined distance, the control unit stops or decelerates the operation of the robot regardless of whether or not the operation orbit information is changed, or when the 1 st distance is equal to or longer than the 1 st predetermined distance and the operation orbit information is changed, controls the operation of the robot based on the changed operation orbit information.
When the 1 st distance is shorter than the 1 st predetermined distance, the control unit stops or decelerates the operation of the robot regardless of whether or not the operation trajectory information is changed. In this way, the control unit prioritizes stopping or decelerating the operation of the robot over controlling the operation of the robot based on the changed operation trajectory information. By stopping or decelerating the operation of the robot when the 1 st distance is shorter than the 1 st predetermined distance, collision or contact between the robot and the person can be avoided. When the 1 st distance is equal to or greater than the 1 st predetermined distance and the movement track information is changed, the control unit controls the movement of the robot based on the changed movement track information. By controlling the operation of the robot based on the changed operation trajectory information, collision and contact between the robot and the person in the future can be avoided, and stopping and decelerating of the operation of the robot in the future can be suppressed. According to the control device, the stopping or decelerating of the robot operation based on the positional relationship between the robot position and the human position and the controlling of the robot operation based on the changed operation trajectory information are performed in parallel, whereby the safety can be ensured and the operation efficiency of the robot can be improved. Therefore, both safety and operation efficiency of the robot can be achieved.
In the control device according to the above aspect, the detection unit may detect the position of the robot and the position of the person at regular or irregular intervals, the determination unit may determine whether the 1 st distance is shorter than the 1 st predetermined distance every time the position of the robot and the position of the person are detected, and the prediction unit may predict the future position of the robot and the future position of the person every time the position of the robot and the position of the person are detected. The detection unit detects the position of the robot and the position of the person at regular or irregular intervals, and the determination unit can determine whether the 1 st distance is shorter than the 1 st predetermined distance over time, and the prediction unit can predict the future position of the robot and the future position of the person over time. Therefore, collision and contact between the robot and the person can be avoided based on the change with time of the position of the robot and the change with time of the position of the person, and collision and contact between the robot and the person in the future can be avoided.
In the control device according to the above aspect, the determination unit may be configured to transmit a 1 st signal to the control unit when the 1 st distance is equal to or greater than the 1 st predetermined distance, and the control unit may be configured to return the operation speed of the robot to a speed before deceleration when the 1 st signal is received after the stop of the operation of the robot is performed and the operation orbit information is changed after the 1 st signal is received, to restart the operation of the robot, to perform the control of the operation of the robot based on the operation orbit information after the change is received after the 1 st signal is received, or to perform the control of the operation of the robot based on the operation orbit information after the change is received after the 1 st signal is received and the operation orbit information is changed after the 1 st signal is received. After stopping or decelerating the operation of the robot and before receiving the 1 st signal, the control unit does not control the operation of the robot based on the changed operation track information even if the operation track information is changed. By such control, the stopping or decelerating of the operation of the robot is prioritized over the operation of the robot based on the changed operation trajectory information, whereby the safety can be improved.
In the control device according to the above aspect, the determination unit may be configured to transmit a 2 nd signal to the change unit when the 1 st distance is shorter than the 1 st predetermined distance, and determine whether a 3 rd distance between the position of the robot and the position of the person detected after the 2 nd signal is transmitted to the change unit is shorter than the 1 st predetermined distance, and transmit a 3 rd signal to the change unit when the 3 rd distance is equal to or longer than the 1 st predetermined distance, and the change unit may not change the operation track information until the 3 rd signal is received after the 2 nd signal is received. The changing unit does not change the operation track information from the time when the 2 nd signal is received to the time when the 3 rd signal is received. Therefore, even if the shortest distance between the future position of the robot and the future position of the person is shorter than the 2 nd predetermined distance, the changing unit does not change the operation track information in the period from the time when the 2 nd signal is received to the time when the 3 rd signal is received. By such control, the stopping or decelerating of the operation of the robot is prioritized over the operation of the robot based on the changed operation trajectory information, whereby the safety can be improved.
In the control device according to the above aspect, the determination unit may be configured to transmit a 4 th signal to the control unit when the 1 st distance is equal to or greater than the 1 st predetermined distance, and the control unit may restart the operation of the robot when the 4 th signal is received after the stopping of the operation of the robot and the operation trajectory information is not changed, may perform control of the operation of the robot based on the operation trajectory information, or may resume the operation speed of the robot when the 4 th signal is received after the operation speed of the robot is reduced and the operation trajectory information is not changed, and may perform control of the operation of the robot based on the operation trajectory information. When the robot is stopped or decelerated to avoid collision or contact with a person, the robot is restarted, whereby the safety of the control device can be ensured and the operation efficiency of the robot can be improved.
In the control device according to the above aspect, the predicting unit predicts the future position of the robot based on a plurality of positions of the robot. In the control device according to the above aspect, the prediction unit predicts the future position of the robot based on the position of the robot and the motion trajectory information. In the control device according to the above aspect, the prediction unit predicts the future position of the robot based on the plurality of positions of the robot and the motion trajectory information. This improves the accuracy of future position prediction of the robot. In the control device according to the above aspect, the predicting unit predicts the future position of the person based on a plurality of positions of the person. This improves the accuracy of predicting the future position of the person. The prediction unit predicts a future position of the robot and a future position of the person by machine learning. This improves the accuracy of predicting the future position of the robot and the future position of the person.
The present invention can also be understood as a control system that performs at least a part of the above-described processing, a control method that includes at least a part of the above-described processing, or a program for realizing the method, and a recording medium that stores the program non-temporarily. The above units and processes can be combined with each other as much as possible to constitute the present invention.
Effects of the invention
According to the present invention, a technique that can achieve both safety and operation efficiency of a robot can be provided.
Drawings
Fig. 1 is a schematic configuration diagram of a control system according to the present embodiment.
Fig. 2 is a block diagram showing the configuration of the control device according to the present embodiment.
Fig. 3 is a flowchart illustrating a processing flow of the control system according to the present embodiment.
Fig. 4 is a block diagram showing the configuration of the control device according to the present embodiment.
Detailed Description
< application example >
Fig. 1 is a schematic configuration diagram of a control system according to the present embodiment. In the control system of fig. 1, the robot 1 is controlled by grasping the operation of the person 10 in an environment where the robot 1 and the person (operator) 10 coexist, for example, at a production site such as a factory. The robot 1 of fig. 1 is a vertical multi-joint robot, and includes a base 11 and an arm 12 connected to the base 11. The robot 1 is not limited to the vertical multi-joint robot, and may be a robot employing another method such as a horizontal multi-joint robot. An end effector (hand) for gripping an object is attached to the end of the arm 12. The robot 1 further includes a servo motor for operating the arm 12.
The control system is provided with: a robot 1; a robot controller 2; a control device 3 that transmits an operation instruction signal and operation track information to the robot controller 2; and a sensor 4 as a detection section that detects the position of the robot 1 and the position of the person 10 at regular or irregular intervals. The robot controller 2 controls the operation of the robot 1 based on the operation orbit information. The robot controller 2 is an example of a control unit. The motion trajectory information is information indicating a motion trajectory of the robot 1, and includes, for example, information such as a start point and an end point of motion of the arm 12 of the robot 1, a path (pass) from the start point to the end point, and an intermediate point between the start point and the end point. The robot controller 2 controls the start, stop, deceleration, and acceleration of the operation of the robot 1 in accordance with the operation instruction signal from the control device 3. The operation instruction signal includes signals such as an instruction to start and stop the operation of the robot 1, and an instruction to decrease and increase the operation speed of the robot 1.
The sensor 4 detects the position of the robot 1 and the position of the person 10, and transmits the detection result to the control device 3. The sensor 4 is a distance measuring sensor that measures a distance to an object. As the sensor 4, RADAR (Radio Detection and Ranging), liDAR (light detection and ranging) or a three-dimensional camera can also be used. The sensor 4 may be a sensor system in which at least two of RADAR, liDAR, and a three-dimensional camera are combined. The position of the robot 1 may be a relative position in the detection range of the sensor 4. The position of the robot 1 may be the position of each part of the robot 1. For example, the position of the robot 1 may be the position of the end of the arm 12, the position of an end effector attached to the end of the arm 12, or the position of the base 11. The position of the person 10 may be a relative position in the detection range of the sensor 4. The location of the person 10 may be the location of each part of the person 10. For example, the position of the person 10 may also be the position of the hand, the position of the foot or the position of the head of the person 10.
The control device 3 includes a safety determination unit 31, a prediction processing unit 32, and a trajectory planning unit 33. The safety determination unit 31 determines whether or not the distance (1 st distance) between the position of the robot 1 and the position of the person 10 is shorter than the 1 st predetermined distance. The safety determination unit 31 transmits an instruction signal to start the operation of the robot 1 to the robot controller 2 when the distance between the position of the robot 1 and the position of the person 10 is equal to or greater than the 1 st predetermined distance. When the robot controller 2 receives an instruction signal indicating the start of the operation of the robot 1, for example, immediately after the power is turned on to the robot 1 before the start of the operation of the robot 1, the operation of the robot 1 is controlled based on the operation orbit information. The safety determination unit 31 or the trajectory planning unit 33 may transmit the operation trajectory information to the robot controller 2, and the robot controller 2 may store the received operation trajectory information in the storage unit of the robot controller 2. The operation track information may be stored in advance in the storage unit of the robot controller 2. The 1 st predetermined distance may be a distance that can be arbitrarily set, and may be a maximum distance from the center position of the robot 1 in the movable region of the robot 1 or a maximum distance from the center position of the robot 1 in a region larger than the movable region of the robot 1.
When the distance between the position of the robot 1 and the position of the person 10 is shorter than the 1 st predetermined distance, the safety determination unit 31 transmits an instruction signal for stopping the operation of the robot 1 (hereinafter referred to as a stop signal) or an instruction signal for decelerating the operation of the robot 1 (hereinafter referred to as a deceleration signal) to the robot controller 2. When the robot controller 2 receives the stop signal after starting to control the operation of the robot 1 based on the operation trajectory information, the operation of the robot 1 is stopped. When the robot controller 2 receives the deceleration signal after starting to control the operation of the robot 1 based on the operation trajectory information, it decelerates the operation of the robot 1. The stop signal and the deceleration signal are examples of the 1 st signal.
The prediction processing unit 32 predicts the future position of the robot 1 based on the position of the robot 1 detected by the sensor 4. The future position of the robot 1 is the position of the robot 1 after a predetermined time from the current time. The prediction processing unit 32 predicts the future position of the person 10 based on the position of the person 10 detected by the sensor 4. The future position of the person 10 is the position of the person 10 after a predetermined time from the current time.
The trajectory planning unit 33 determines the positional relationship between the robot 1 and the person 10 in the future based on the future position of the robot 1 and the future position of the person 10, and determines whether to change the operation trajectory information based on the determination result. The trajectory planning unit 33 determines whether or not the distance (the 2 nd distance) between the future position of the robot 1 and the future position of the person 10 is shorter than the 2 nd predetermined distance. When the distance between the future position of the robot 1 and the future position of the person 10 is shorter than the 2 nd predetermined distance, the trajectory planning unit 33 changes the operation trajectory information so that the distance between the future position of the robot 1 and the future position of the person 10 becomes the 2 nd predetermined distance or more. The track planning unit 33 is an example of the changing unit. The 2 nd predetermined distance may be a distance that can be arbitrarily set, and may be a maximum distance from the center position of the robot 1 in the movable region of the robot 1, or may be a maximum distance from the center position of the robot 1 in a region larger than the movable region of the robot 1. The 1 st predetermined distance and the 2 nd predetermined distance may be the same distance, and the 1 st predetermined distance and the 2 nd predetermined distance may be different distances. The trajectory planning unit 33 does not change the operation trajectory information when the distance between the future position of the robot 1 and the future position of the person 10 is equal to or greater than the 2 nd predetermined distance.
When receiving the stop signal from the safety determination unit 31, the robot controller 2 stops the operation of the robot 1, regardless of whether or not the operation trajectory information is changed. When receiving the deceleration signal from the safety determination unit 31, the robot controller 2 decelerates the robot 1 regardless of whether or not the operation trajectory information is changed. Even if the operation track information is changed, the robot controller 2 stops or decelerates the operation of the robot 1 based on the stop signal or the deceleration signal. In this way, the robot controller 2 prioritizes stopping or decelerating the operation of the robot 1 over controlling the operation of the robot 1 based on the changed operation trajectory information. By stopping or decelerating the operation of the robot 1 by the robot controller 2 based on the stop signal or the deceleration signal, collision or contact between the robot 1 and the person 10 can be avoided. Further, by detecting the position of the robot 1 and the position of the person 10 at regular or irregular intervals by the sensor 4, collision or contact between the robot 1 and the person 10 can be avoided based on the change with time of the position of the robot 1 and the change with time of the position of the person 10.
When the stop signal or the deceleration signal is not received from the safety determination unit 31 and the operation trajectory information is changed, the robot controller 2 controls the operation of the robot 1 based on the changed operation trajectory information. That is, when the distance between the position of the robot 1 and the position of the person 10 is equal to or greater than the 1 st predetermined distance and the movement orbit information is changed, the robot controller 2 controls the movement of the robot 1 based on the changed movement orbit information. By controlling the operation of the robot 1 based on the changed operation trajectory information by the robot controller 2, collision and contact between the robot 1 and the person 10 in the future can be avoided. Further, by detecting the position of the robot 1 and the position of the person 10 at regular or irregular intervals by the sensor 4, it is possible to avoid future collision or contact between the robot 1 and the person 10 based on the change with time of the position of the robot 1 and the change with time of the position of the person 10.
According to the control system including the control device 3, by performing the stopping or decelerating of the operation of the robot 1 based on the positional relationship between the position of the robot 1 and the position of the person 10 and the control of the operation of the robot 1 based on the changed operation trajectory information in parallel, the operation efficiency of the robot 1 can be improved while ensuring the safety. Therefore, both safety and operation efficiency of the robot 1 can be achieved. In addition, the safety criterion is easily satisfied as compared with the case where only the control by the machine learning is performed. Therefore, the safety authentication of the control device 3 and the control system becomes easy, and the height control technique can be applied to a scene where the robot 1 and the person 10 coexist and cooperate.
In the configuration example shown in fig. 1, the robot controller 2 and the control device 3 are separate, but the robot controller 2 and the control device 3 may be integrated. The functions of the control device 3 may be incorporated into the robot controller 2, or the functions of the robot controller 2 may be incorporated into the control device 3.
< System Structure >
The control system is described with reference to fig. 1 and 2. The portion of the control system that is related to the safety system is referred to as a safety-related portion, and the portion other than the safety system is referred to as a non-safety-related portion. In the present embodiment, the security determination unit 31 mainly functions as the security association unit 5, and the prediction processing unit 32 and the trajectory planning unit 33 mainly function as the non-security association unit 6.
The security determination unit 31 includes a processing unit 311, a memory 312, and an output unit 313. The processing unit 311 reads out a program stored in the memory 312, and performs control, signal processing, arithmetic processing, and the like of each unit of the security determination unit 31. The processing unit 311 processes the detection result received from the sensor 4 and stores the processed result in the memory 312. The processing unit 311 may be configured by a computer having a processor such as a CPU, a RAM, a nonvolatile memory device (e.g., ROM, flash memory, etc.), and the like. The manner of the computer is not limited. All or part of the functions provided by the processing unit 311 may be configured by a circuit such as an ASIC or FPGA. The memory 312 stores data necessary for the processing by the processing unit 311. The memory 312 may be a RAM, a nonvolatile memory device, or the like. The output unit 313 outputs the signal generated by the processing unit 311 to the robot controller 2.
The safety determination unit 31 determines the positional relationship between the robot 1 and the person 10 based on the position of the robot 1 and the position of the person 10. The safety determination unit 31 determines the positional relationship between the robot 1 and the person 10 every time the detection result is received from the sensor 4. That is, each time the position of the robot 1 and the position of the person 10 are detected, the safety determination unit 31 determines whether or not the distance between the position of the robot 1 and the position of the person 10 is shorter than the 1 st predetermined distance. Therefore, the safety determination unit 31 determines whether or not the distance between the position of the robot 1 and the position of the person 10 is shorter than the 1 st predetermined distance over time. The safety determination unit 31 generates a stop signal or a deceleration signal based on the determination result, and transmits the stop signal or the deceleration signal to the robot controller 2.
The prediction processing unit 32 includes a processing unit 321, a memory 322, and an output unit 323. The processing unit 321 reads out a program stored in the memory 322, and performs control, signal processing, arithmetic processing, and the like of each unit of the prediction processing unit 32. The processing unit 321 processes the detection result received from the sensor 4, and stores the processed result in the memory 322. The processing unit 321 may be configured by a computer having a processor such as a CPU, a RAM, a nonvolatile memory device, and the like, for example. The manner of the computer is not limited. All or part of the functions provided by the processing unit 321 may be configured by circuits such as ASIC and FPGA. The memory 322 stores data necessary for the processing by the processing unit 321. The memory 322 may be a RAM, a nonvolatile memory device, or the like. The output unit 323 outputs the signal generated by the processing unit 321 to the track planning unit 33.
The prediction processing unit 32 predicts the future position of the robot 1 based on the position of the robot 1, and predicts the future position of the person 10 based on the position of the person 10. Each time the position of the robot 1 and the position of the person 10 are detected, the prediction processing unit 32 predicts the future position of the robot 1 and the future position of the person 10. Therefore, the prediction processing unit 32 predicts the future position of the robot 1 and the future position of the person 10 with the lapse of time. The prediction processing unit 32 may predict the future position of the robot 1 and the future position of the person 10 by machine learning using AI (artificial intelligence). The prediction processing unit 32 may store the position of the robot 1 in the memory 322 or another storage device each time the position of the robot 1 is detected, and predict the future position of the robot 1 based on a plurality of positions of the robot 1. The prediction processing unit 32 may predict the future position of the robot 1 based on the position of the robot 1 and the motion trajectory information. The prediction processing unit 32 may predict the future position of the robot 1 based on the plurality of positions of the robot 1 and the motion trajectory information. This improves the accuracy of future position prediction of the robot 1. The prediction processing unit 32 may store the position of the person 10 in the memory 322 or another storage device every time the position of the person 10 is detected, and predict the future position of the person 10 based on a plurality of positions of the person 10. This improves the accuracy of future position prediction of the person 10. The prediction processing unit 32 generates a signal including the future position of the robot 1 and the future position of the person 10 for the trajectory planning unit 33, and sends the signal to the trajectory planning unit 33.
The track planning unit 33 includes a processing unit 331, a memory 332, and an output unit 333. The processing unit 331 reads a program stored in the memory 332, and performs control, signal processing, arithmetic processing, and the like of each unit of the track planning unit 33. The processing unit 331 processes the signal received from the prediction processing unit 32, and stores the processed signal in the memory 332. The processing unit 331 may be configured by a computer having a processor such as a CPU, a RAM, a nonvolatile memory device, and the like. The manner of the computer is not limited. All or part of the functions provided by the processing unit 331 may be configured by a circuit such as an ASIC or FPGA. The memory 332 stores data necessary for the processing by the processing unit 331. The memory 332 may be a RAM, a nonvolatile memory device, or the like. The output unit 333 outputs the signal generated by the processing unit 331 and predetermined information to the robot controller 2.
The trajectory planning unit 33 determines the positional relationship between the robot 1 and the person 10 in the future based on the future position of the robot 1 and the future position of the person 10, and determines whether to change the operation trajectory information based on the determination result. When the operation orbit information is changed, the orbit planning unit 33 transmits the changed operation orbit information to the robot controller 2. The robot controller 2 receives the changed operation track information, and stores the changed operation track information in a storage unit of the robot controller 2.
In the above, the example in which the operation track information and the changed operation track information are stored in the storage unit of the robot controller 2 is shown, but the present invention is not limited to this example. The operation track information and the changed operation track information may be stored in an external storage device connected to the robot controller 2. The robot controller 2 may acquire the operation track information from an external storage device. When the operation track information is changed, the track planning unit 33 may store the changed operation track information in an external storage device and transmit a signal indicating that the operation track information is changed to the robot controller 2. When receiving a signal indicating that the operation orbit information has been changed, the robot controller 2 may acquire the changed operation orbit information from the external storage device.
The flow of the processing of the control system is described in accordance with the flowchart of fig. 3. In the flowchart of fig. 3, the security association unit 5 (security determination unit 31) performs the processing of steps S102 to S104, and the non-security association unit 6 (prediction processing unit 32, track planning unit 33) performs the processing of steps S105 to S109.
The sensor 4 detects the position of the robot 1 and the position of the person 10, and sends the detection results to the safety determination unit 31 and the prediction processing unit 32 (step S101). Upon receiving the detection result from the sensor 4, the safety determination unit 31 calculates the shortest distance between the position of the robot 1 and the position of the person 10 (step S102). The safety determination unit 31 calculates distances between the positions of the respective parts of the robot 1 and the positions of the respective parts of the person 10, and determines the shortest distance among the calculated distances as the shortest distance between the position of the robot 1 and the position of the person 10. The safety association unit 5 (safety determination unit 31) determines whether or not the shortest distance between the position of the robot 1 and the position of the person 10 is shorter than the 1 st predetermined distance (step S103).
When the shortest distance between the position of the robot 1 and the position of the person 10 is shorter than the 1 st predetermined distance (yes in step S103), the safety determination unit 31 transmits a stop signal or a deceleration signal to the robot controller 2 (step S104). The robot controller 2 stops the operation of the robot 1 when receiving the stop signal, and decelerates the operation of the robot 1 when receiving the deceleration signal. When the shortest distance between the position of the robot 1 and the position of the person 10 is equal to or greater than the 1 st predetermined distance (step S103: NO), the safety determination unit 31 does not transmit the stop signal and the deceleration signal to the robot controller 2. The processing of steps S102 to S104 is executed each time the security determination unit 31 receives the detection result from the sensor 4.
When receiving the detection result from the sensor 4, the prediction processing unit 32 predicts the future position of the robot 1 and the future position of the person 10 (step S105). The prediction processing unit 32 calculates the shortest distance between the future position of the robot 1 and the future position of the person 10 (step S106). In other words, the prediction processing unit 32 calculates the shortest distance between the position of the robot 1 and the position of the person 10 in the future. The prediction processing unit 32 calculates distances between the future position of each part of the robot 1 and the future position of each part of the person 10, and determines the shortest distance among the calculated distances as the shortest distance between the future position of the robot 1 and the future position of the person 10. The trajectory planning unit 33 determines whether or not the shortest distance between the future position of the robot 1 and the future position of the person 10 is shorter than the 2 nd predetermined distance (step S107).
When the shortest distance between the future position of the robot 1 and the future position of the person 10 is shorter than the 2 nd predetermined distance (yes in step S107), the trajectory planning unit 33 changes the operation trajectory information so that the distance between the future position of the robot 1 and the future position of the person 10 becomes the 2 nd predetermined distance or more (step S108). The trajectory planning unit 33 transmits the changed operation trajectory information to the robot controller 2 (step S109). When the stop signal or the deceleration signal is not received and the operation orbit information is changed, the robot controller 2 controls the operation of the robot 1 based on the changed operation orbit information. When the shortest distance between the future position of the robot 1 and the future position of the person 10 is equal to or greater than the 2 nd predetermined distance (step S107: no), the trajectory planning unit 33 does not change the operation trajectory information. Each time the prediction processing unit 32 receives the detection result from the sensor 4, the processing of steps S105 to S109 is executed.
The robot controller 2 stops the operation of the robot 1 when receiving the stop signal, regardless of whether the operation trajectory information is changed, and decelerates the operation of the robot 1 when receiving the deceleration signal, regardless of whether the operation trajectory information is changed. In this way, the robot controller 2 prioritizes stopping or decelerating the operation of the robot 1 over controlling the operation of the robot 1 based on the changed operation trajectory information. That is, in the control system, the priority of the security association unit 5 is set higher than the priority of the non-security association unit 6, and the processing of the security association unit 5 with a high priority and the processing of the non-security association unit 6 are performed in parallel. The method 1 and the method 2 in which the priority of the security association unit 5 is set higher than the priority of the non-security association unit 6 will be described.
(method 1)
The 1 st method is as follows: when stopping or decelerating the operation of the robot 1, the robot controller 2 ignores the change of the operation trajectory information by the trajectory planning unit 33 until the shortest distance between the position of the robot 1 and the position of the person 10 becomes equal to or longer than the 1 st predetermined distance. When the shortest distance between the position of the robot 1 and the position of the person 10 is equal to or greater than the 1 st predetermined distance (step S103: NO), the safety determination unit 31 transmits a 1 st safety signal to the robot controller 2. The 1 st safety signal is an example of the 1 st signal. When the 1 st safety signal is received after the operation of the robot 1 is stopped by receiving the stop signal and the operation track information is changed after the 1 st safety signal is received, the robot controller 2 resumes the operation of the robot 1. Then, the robot controller 2 controls the operation of the robot 1 based on the operation track information changed after receiving the 1 st safety signal. The robot controller 2 returns the operation speed of the robot 1 to the speed before deceleration when the 1 st safety signal is received after the deceleration of the operation of the robot 1 is performed due to the reception of the deceleration signal and the operation orbit information is changed after the 1 st safety signal is received. Then, the robot controller 2 controls the operation of the robot 1 based on the operation track information changed after receiving the 1 st safety signal.
The robot controller 2 does not control the operation of the robot 1 based on the changed operation track information even if the operation track information is changed after stopping the operation of the robot 1 and before receiving the 1 st safety signal. The robot controller 2 does not control the operation of the robot 1 based on the changed operation track information even if the operation track information is changed after the deceleration of the operation of the robot 1 and before the 1 st safety signal is received. In this way, by setting the priority of the safety-related portion 5 higher than the priority of the non-safety-related portion 6, the safety of the control system can be improved.
(method 2)
The 2 nd method is as follows: when stopping or decelerating the operation of the robot 1, the trajectory planning unit 33 interrupts the change of the operation trajectory information until the shortest distance between the position of the robot 1 and the position of the person 10 becomes equal to or greater than the 1 st predetermined distance. When the shortest distance (1 st distance) between the position of the robot 1 and the position of the person 10 is shorter than the 1 st predetermined distance (yes in step S103), the safety determination unit 31 sends a danger signal to the trajectory planning unit 33. The hazard signal is an example of the 2 nd signal. The safety determination unit 31 determines whether or not the distance (3 rd distance) between the position of the robot 1 detected by the sensor 4 and the position of the person 10 after the danger signal is sent to the trajectory planning unit 33 is shorter than the 1 st predetermined distance (step S103). The safety determination unit 31 transmits a change signal to the trajectory planning unit 33 when the distance (3 rd distance) between the position of the robot 1 and the position of the person 10 is equal to or greater than the 1 st predetermined distance. The change signal is an example of the 3 rd signal. The track planning unit 33 does not change the operation track information from the time when the danger signal is received to the time when the change signal is received. Therefore, even if the shortest distance between the future position of the robot 1 and the future position of the person 10 becomes shorter than the 2 nd predetermined distance after the danger signal is received from the trajectory planning unit 33 until the change signal is received, the trajectory planning unit 33 does not change the operation trajectory information. In this way, by setting the priority of the safety-related portion 5 higher than the priority of the non-safety-related portion 6, the safety of the control system can be improved.
The sensor 4 detects the position of the robot 1 and the position of the person 10 at regular or irregular intervals. The case where the safety determination unit 31 transmits a stop signal or a deceleration signal to the robot controller 2 and receives a detection result from the sensor 4 will be described. When the detection result is received from the sensor 4 after the stop signal or the deceleration signal is transmitted to the robot controller 2, the safety determination unit 31 calculates the shortest distance between the position of the robot 1 and the position of the person 10 (step S102). The safety determination unit 31 determines whether or not the shortest distance between the position of the robot 1 detected by the sensor 4 and the position of the person 10 after the stop signal or the deceleration signal is transmitted to the robot controller 2 is shorter than the 1 st predetermined distance (step S103).
The safety determination unit 31 transmits a 2 nd safety signal to the robot controller 2 when the shortest distance between the position of the robot 1 detected by the sensor 4 and the position of the person 10 after transmitting the stop signal or the deceleration signal to the robot controller 2 is equal to or greater than the 1 st predetermined distance. The 2 nd safety signal is an example of the 4 th signal. When the 2 nd safety signal is received after the stop signal is received and the operation trajectory information is not changed after the stop signal is received and the operation of the robot 1 is stopped, the robot controller 2 resumes the operation of the robot 1 and controls the robot 1 based on the operation trajectory information. When the operation of the robot 1 is stopped, the operation of the robot 1 is restarted while avoiding the collision or contact between the robot 1 and the person 10, thereby ensuring the safety of the control system and improving the operation efficiency of the robot 1.
When the robot controller 2 receives the 2 nd safety signal after the deceleration of the operation of the robot 1 by receiving the deceleration signal and the operation orbit information is not changed, it returns the operation speed of the robot 1 to the speed before the deceleration and controls the robot 1 based on the operation orbit information. By decelerating the operation of the robot 1, the operation speed of the robot 1 is returned to the speed before deceleration while avoiding collision or contact between the robot 1 and the person 10, and thereby the safety of the control system can be ensured and the operation efficiency of the robot 1 can be improved.
In the flowchart of fig. 3, an example is shown in which the safety-related section 5 uses the shortest distance between the position of the robot 1 and the position of the person 10 to perform the determination, but the present invention is not limited to this example. For example, the safety-related unit 5 may determine using the longest distance between the position of the robot 1 and the position of the person 10. In the flowchart of fig. 3, an example is shown in which the non-safety related unit 6 performs determination using the shortest distance between the future position of the robot 1 and the future position of the person 10, but the present invention is not limited to this example. For example, the non-safety-related portion 6 may determine using the longest distance between the future position of the robot 1 and the future position of the person 10.
In the above description, the prediction processing unit 32 predicts the future position of the robot 1 and predicts the future position of the person 10, but is not limited to this configuration. As shown in fig. 4, the 1 st prediction processing unit 32A may predict the future position of the robot 1, and the 2 nd prediction processing unit 32B may predict the future position of the person 10. The prediction processing unit 32A includes a processing unit 321A, a memory 322A, and an output unit 323A. The configuration of the processing unit 321A, the memory 322A, and the output unit 323A, and the like, are the same as those of the processing unit 321, the memory 322, and the output unit 323. The prediction processing unit 32B includes a processing unit 321B, a memory 322B, and an output unit 323B. The configuration of the processing unit 321B, the memory 322B, and the output unit 323B, and the like, are the same as those of the processing unit 321, the memory 322, and the output unit 323.
The sensor 4 detects the position of the robot 1 and the position of the person 10, and sends the detection results to the safety determination unit 31, the 1 st prediction processing unit 32A, and the 2 nd prediction processing unit 32B. The 1 st prediction processing unit 32A predicts the future position of the robot 1 upon receiving the detection result from the sensor 4. The 2 nd prediction processing unit 32B predicts the future position of the person 10 upon receiving the detection result from the sensor 4. Otherwise, the prediction processing unit 32 is the same.
The processes described above are also understood to be methods performed by a computer. The program for causing the computer to execute the above-described processes may be provided to the computer via a network or from a computer-readable recording medium or the like that holds data non-temporarily. By causing a computer to read and execute the program, the robot controller 2 or the control device 3 can function. The robot controller 2 and the control device 3 may function by causing a computer to read and execute the program.
< additional notes >
A control device (3) is provided with: a control unit (2) that controls the operation of the robot (1) on the basis of operation track information that indicates the operation track of the robot (1); a determination unit (31) that determines whether or not the 1 st distance between the robot position detected by the detection unit (4) and the person position is shorter than a 1 st predetermined distance; a prediction unit (32) that predicts a future position of the robot (1) based on the position of the robot (1), and predicts the future position of the person based on the position of the person; and a changing unit (33) that determines whether or not a 2 nd distance between a future position of the robot (1) and a future position of the person is shorter than a 2 nd predetermined distance, and when the 2 nd distance is shorter than the 2 nd predetermined distance, changes the operation orbit information so that the 2 nd distance is equal to or longer than the 2 nd predetermined distance, and when the 1 st distance is shorter than the 1 st predetermined distance, the control unit (2) stops or decelerates the operation of the robot (1) regardless of whether or not the operation orbit information is changed, or when the 1 st distance is equal to or longer than the 1 st predetermined distance and the operation orbit information is changed, controls the operation of the robot (1) based on the changed operation orbit information.
Description of the reference numerals
1: a robot; 2: a robot controller; 3: a control device; 4: a sensor; 5: a security association section; 6: a non-security association; 10: a person; 31: a security determination unit; 32: a prediction processing unit; 32A: a 1 st prediction processing unit; 32B: a 2 nd prediction processing unit; 33: and a track planning unit.
Claims (14)
1. A control device is provided with:
a control unit that controls the operation of the robot based on operation track information indicating the operation track of the robot;
a determination unit that determines whether or not a 1 st distance between the position of the robot detected by the detection unit and the position of the person is shorter than a 1 st predetermined distance;
a prediction unit that predicts a future position of the robot based on the position of the robot and predicts the future position of the person based on the position of the person; and
a changing unit configured to determine whether or not a 2 nd distance between a future position of the robot and a future position of the person is shorter than a 2 nd predetermined distance, and to change the operation track information so that the 2 nd distance becomes equal to or longer than the 2 nd predetermined distance when the 2 nd distance is shorter than the 2 nd predetermined distance,
the control unit stops or decelerates the operation of the robot when the 1 st distance is shorter than the 1 st predetermined distance, regardless of whether the operation trajectory information is changed, or controls the operation of the robot based on the changed operation trajectory information when the 1 st distance is equal to or longer than the 1 st predetermined distance and the operation trajectory information is changed.
2. The control device according to claim 1, wherein,
the detecting section detects the position of the robot and the position of the person at regular or irregular intervals,
the determination unit determines whether or not the 1 st distance is shorter than the 1 st predetermined distance every time the position of the robot and the position of the person are detected,
the prediction unit predicts a future position of the robot and a future position of the person each time the position of the robot and the position of the person are detected.
3. The control device according to claim 2, wherein,
the determination unit transmits a 1 st signal to the control unit when the 1 st distance is equal to or greater than the 1 st predetermined distance,
the control unit resumes the operation of the robot when the 1 st signal is received after the stop of the operation of the robot and the operation orbit information is changed after the 1 st signal is received, and controls the operation of the robot based on the operation orbit information after the 1 st signal is received or controls the operation of the robot based on the operation orbit information after the 1 st signal is changed when the 1 st signal is received after the deceleration of the operation of the robot is performed and the operation orbit information is changed after the 1 st signal is received, and returns the operation speed of the robot to the speed before the deceleration.
4. The control device according to claim 2, wherein,
the determination unit transmits a 2 nd signal to the change unit when the 1 st distance is shorter than the 1 st predetermined distance, determines whether a 3 rd distance between the robot position and the person position detected after the 2 nd signal is transmitted to the change unit is shorter than the 1 st predetermined distance, transmits a 3 rd signal to the change unit when the 3 rd distance is equal to or longer than the 1 st predetermined distance,
the changing unit does not change the operation track information from the time when the 2 nd signal is received to the time when the 3 rd signal is received.
5. The control device according to claim 2, wherein,
the determination unit transmits a 4 th signal to the control unit when the 1 st distance is equal to or greater than the 1 st predetermined distance,
the control unit resumes the operation of the robot when the 4 th signal is received after the operation of the robot is stopped and the operation trajectory information is not changed, and controls the operation of the robot based on the operation trajectory information, or resumes the operation speed of the robot when the 4 th signal is received after the operation speed of the robot is reduced and the operation trajectory information is not changed, and controls the operation of the robot based on the operation trajectory information.
6. The control device according to any one of claims 1 to 5, wherein,
the prediction unit predicts future positions of the robot based on a plurality of positions of the robot.
7. The control device according to any one of claims 1 to 5, wherein,
the prediction unit predicts a future position of the robot based on the position of the robot and the motion trajectory information.
8. The control device according to any one of claims 1 to 5, wherein,
the prediction unit predicts future positions of the robot based on the plurality of positions of the robot and the motion trajectory information.
9. The control device according to any one of claims 1 to 8, wherein,
the prediction unit predicts a future position of the person based on a plurality of positions of the person.
10. The control device according to any one of claims 1 to 9, wherein,
the prediction unit predicts a future position of the robot and a future position of the person by machine learning.
11. A control device is provided with:
a control unit that controls the operation of the robot based on operation track information indicating the operation track of the robot;
A determination unit that determines whether or not a 1 st distance between the position of the robot detected by the detection unit and the position of the person is shorter than a 1 st predetermined distance;
a 1 st prediction unit that predicts a future position of the robot based on the position of the robot;
a 2 nd prediction unit that predicts a future position of the person based on the position of the person; and
a changing unit configured to determine whether or not a 2 nd distance between a future position of the robot and a future position of the person is shorter than a 2 nd predetermined distance, and to change the operation track information so that the 2 nd distance becomes equal to or longer than the 2 nd predetermined distance when the 2 nd distance is shorter than the 2 nd predetermined distance,
the control unit stops or decelerates the operation of the robot when the 1 st distance is shorter than the 1 st predetermined distance, regardless of whether the operation trajectory information is changed, or controls the operation of the robot based on the changed operation trajectory information when the 1 st distance is equal to or longer than the 1 st predetermined distance and the operation trajectory information is changed.
12. A control system is provided with:
the control device according to any one of claims 1 to 11;
The robot; and
the detection unit.
13. A control method, wherein the following steps are performed by a computer:
a control step of controlling the motion of the robot based on motion trajectory information indicating a motion trajectory of the robot;
a determination step of determining whether or not a 1 st distance between the position of the robot detected by the detection unit and the position of the person is shorter than a 1 st predetermined distance;
a predicting step of predicting a future position of the robot based on the position of the robot, and predicting the future position of the person based on the position of the person; and
a changing step of determining whether or not a 2 nd distance between a future position of the robot and a future position of the person is shorter than a 2 nd predetermined distance, and changing the operation track information so that the 2 nd distance becomes equal to or longer than the 2 nd predetermined distance when the 2 nd distance is shorter than the 2 nd predetermined distance,
in the controlling step, when the 1 st distance is shorter than the 1 st predetermined distance, the operation of the robot is stopped or decelerated regardless of whether the operation orbit information is changed, or when the 1 st distance is equal to or longer than the 1 st predetermined distance and the operation orbit information is changed, the operation of the robot is controlled based on the changed operation orbit information.
14. A program for causing a computer to execute the steps of the control method according to claim 13.
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| JP2021041149A JP7631929B2 (en) | 2021-03-15 | 2021-03-15 | Control device, control system, control method and program |
| JP2021-041149 | 2021-03-15 | ||
| PCT/JP2021/047113 WO2022196010A1 (en) | 2021-03-15 | 2021-12-20 | Control device, control system, control method, and program |
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| EP (1) | EP4286114A4 (en) |
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| US12487564B2 (en) | 2024-12-19 | 2025-12-02 | Digital Global Systems, Inc. | Systems and methods of sensor data fusion |
| US12314346B2 (en) | 2024-12-19 | 2025-05-27 | Digital Global Systems, Inc. | Systems and methods of sensor data fusion |
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| EP4286114A1 (en) | 2023-12-06 |
| WO2022196010A1 (en) | 2022-09-22 |
| US20240123619A1 (en) | 2024-04-18 |
| JP2022141028A (en) | 2022-09-29 |
| JP7631929B2 (en) | 2025-02-19 |
| EP4286114A4 (en) | 2025-01-15 |
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